Author, institution: Olga Fiodorova, Kaunas University of Technology
Science area, field: Technological Sciences, Electrical and Electronic Engineering (01T)
The Doctoral Dissertation is available at the library of Kaunas University of Technology (K. Donelaičio St. 20, Kaunas).
Scientific Supervisor: Prof. Dr. Kastytis Kiprijonas ŠARKAUSKAS (Kaunas University of Technology, Technological sciences, Electrical and Electronic Engineering – 01T).
Dissertation defence board of Electrical and Electronic Engineering Science Field:
Assoc. Prof. Dr. Elena JASIŪNIENĖ (Kaunas University of Technology, Technological sciences, Electrical and Electronic Engineering, 01T) – chairperson;
Prof. Dr. Vladimir GOLOVKO (Brest State Technical University, Belarus, Technological sciences, Informatics Engineering, 07T);
Prof. Dr. Arūnas LIPNICKAS (Kaunas University of Technology, Technological sciences, Informatics Engineering, 07T);
Assoc. Prof. Dr. Dainius UDRIS (Vilnius Gediminas Technical University, Technological sciences, Electrical and Electronic Engineering, 01T);
Prof. Dr. Algimantas VALINEVIČIUS (Kaunas University of Technology, Technological sciences, Electrical and Electronic Engineering, 01T).
Annotation:
This thesis proposes a method allowing the detection of the mobile robot’s position coordinates only by using a profile of the known environment. Propose algorithms which could detect the mobile robot’s position without additional navigation equipment.
The aim of the research is to develop a method for the detection of the position coordinates of the mobile robot performing service in the field of flexible automated production only on the basis of the known environment profile information and to test the method’s functionality.
Application of the created principles enabling the detection of the mobile robot’s position coordinates in a known environment without additional hardware when movement trajectories are automatically formed by a supervising control system allowing the solution of the planning issues related to the mobile robot’s movement trajectories. The developed method is universal and may be used in the manufacture processes and in the social sphere (service robots) serviced by mobile robots.
